Functions | Variables
hrl_cody_arms::coord_frames Namespace Reference

Functions

def create_globalTDict
def createMecanumTransform
def createThok0Transform
def createTorsoTransform
def createUtm0Transform
def globalTmecanum
def globalTthok0
def globalTtorso
def globalTutm0
def globalTutmcam0
 utmcam0 coord frame to global
def mecanumTglobal
def thok0Tglobal
def torsoTglobal
def utm0Tglobal
def utmcam0Tglobal
 global to utmcam0 coord frame.
def utmcam0Tglobal_mat
 transformation matrix to go from global to utmcam0 coord frame.

Variables

dictionary _globalT

Function Documentation

call the create functions for all the coord frames

Definition at line 45 of file coord_frames.py.

mecanum frame -> global frame (ignores the zenither)

Definition at line 78 of file coord_frames.py.

thok0 frame -> global frame

Definition at line 61 of file coord_frames.py.

torso frame -> global frame

Definition at line 53 of file coord_frames.py.

utm0 frame -> global frame

Definition at line 69 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTmecanum (   p,
  floating_vector = False 
)
3x1 vector from mecanum to global.

Definition at line 89 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTthok0 (   p,
  floating_vector = False 
)
3x1 vector from thok0 to global.

Definition at line 129 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTtorso (   p,
  floating_vector = False 
)
3x1 vector from torso to global.

Definition at line 109 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTutm0 (   p,
  floating_vector = False 
)
3x1 vector from utm0 to global.

Definition at line 149 of file coord_frames.py.

def hrl_cody_arms.coord_frames.globalTutmcam0 (   p,
  ang,
  floating_vector = False 
)

utmcam0 coord frame to global

Parameters:
p- 3xN np matrix.
ang- servo angle (in RADIANS)
floating_vector- interpretation of p. False -> position vector. True -> floating vector (rotation only).
Returns:
3xN np matrix in the new coord frame.

Definition at line 217 of file coord_frames.py.

def hrl_cody_arms.coord_frames.mecanumTglobal (   p,
  floating_vector = False 
)
3x1 vector from global to mecanum.

Definition at line 99 of file coord_frames.py.

def hrl_cody_arms.coord_frames.thok0Tglobal (   p,
  floating_vector = False 
)
3x1 vector from global to thok0.

Definition at line 139 of file coord_frames.py.

def hrl_cody_arms.coord_frames.torsoTglobal (   p,
  floating_vector = False 
)
3x1 vector from global to torso.

Definition at line 119 of file coord_frames.py.

def hrl_cody_arms.coord_frames.utm0Tglobal (   p,
  floating_vector = False 
)
3x1 vector from global to utm0.

Definition at line 159 of file coord_frames.py.

def hrl_cody_arms.coord_frames.utmcam0Tglobal (   p,
  ang,
  floating_vector = False 
)

global to utmcam0 coord frame.

Parameters:
p- 3xN np matrix.
ang- servo angle (in RADIANS)
floating_vector- interpretation of p. False -> position vector. True -> floating vector (rotation only).
Returns:
3xN np matrix in the new coord frame.

Definition at line 201 of file coord_frames.py.

transformation matrix to go from global to utmcam0 coord frame.

Parameters:
ang- servo angle (in RADIANS)
Returns:
4x4 transformation matrix.

Definition at line 172 of file coord_frames.py.


Variable Documentation

Initial value:
00001 {
00002     'torso' : None,
00003     'thok0' : None,
00004     'utm0' : None,
00005     'utmcam0': None,
00006     'mecanum': None
00007 }

Definition at line 37 of file coord_frames.py.



hrl_cody_arms
Author(s): Advait Jain, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab
autogenerated on Wed Nov 27 2013 12:11:49